Search results for "Rigid body"
showing 10 items of 17 documents
Collision detection for 3D rigid body motion planning with narrow passages
2017
In sampling-based 3D rigid body motion planning one of the major subroutines is collision detection. Especially for problems with narrow passages many samples have to be checked by a collision detection algorithm. In this application, the runtime of the motion planning algorithm is dominated by collision detection and the samples have the very specific characteristic that many of them are in collision and have small penetration volumes. In our work, we introduce a data structure and an algorithm that makes use of this characteristic by combining well-known data structures like a distance field and an octree with the swap algorithm by Llanas et al. For 3D rigid body motion planning with narr…
A Teaching proposal for the study of eigenvectors and eigenvalues
2017
[EN] In this work, we present a teaching proposal which emphasizes on visualization and physical applications in the study of eigenvectors and eigenvalues. These concepts are introduced using the notion of the moment of inertia of a rigid body and the GeoGebra software. The proposal was motivated after observing students¿ difficulties when treating eigenvectors and eigenvalues from a geometric point of view. It was designed following a particular sequence of activities with the schema: exploration, introduction of concepts, structuring of knowledge and application, and considering the three worlds of mathematical thinking provided by Tall: embodied, symbolic and formal.
Physical model, theoretical aspects and applications of the flight of a ball in the atmosphere. Part III: Theory in the case of vertical angular freq…
1995
If a ball is viewed as a rigid body, its flight in the atmosphere can be described by six ordinary differential equations, which has been derived in the first part of this paper. In this following third part, some further theoretical aspects in the case of vertical angular frequency will be pointed out using an unknown transformation of the original independent variable, i.e. the time, as indicated in Part II. Last, but not least, the general case of angular frequency is to be treated. A rough qualitative discussion of the solutions is given as well as—if the equations are viewed as a three-dimensional dynamical system—the unique stable equilibrium, which depends on the spin. This equilibri…
A second strain gradient elasticity theory with second velocity gradient inertia – Part II: Dynamic behavior
2013
Abstract This paper is the sequel of a companion Part I paper devoted to the constitutive equations and to the quasi-static behavior of a second strain gradient material model with second velocity gradient inertia. In the present Part II paper, a multi-cell homogenization procedure (developed in the Part I paper) is applied to a nonhomogeneous body modelled as a simple material cell system, in conjunction with the principle of virtual work (PVW) for inertial actions (i.e. momenta and inertia forces), which at the macro-scale level takes on the typical format as for a second velocity gradient inertia material model. The latter (macro-scale) PVW is used to determine the equilibrium equations …
Adaptive Attitude Control of a Rigid Body with Input and Output Quantization
2022
Author's accepted manuscript. © 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. In this paper, the adaptive attitude tracking the problem of a rigid body is investigated where the input and output are transmitted via a network. To reduce the communication burden in a network, a quantizer is introduced in both uplink and downlink communication channels. An adaptiv…
Completely randomized RRT-connect: A case study on 3D rigid body motion planning
2015
Nowadays sampling-based motion planners use the power of randomization to compute multidimensional motions at high performance. Nevertheless the performance is based on problem-dependent parameters like the weighting of translation versus rotation and the planning range of the algorithm. Former work uses constant user-adjusted values for these parameters which are defined a priori. Our new approach extends the power of randomization by varying the parameters randomly during runtime. This avoids a preprocessing step to adjust parameters and moreover improves the performance in comparison to existing methods in the majority of the benchmarks. Our method is simple to understand and implement. …
The Mechanics of Rigid Bodies
1990
The theory of rigid bodies is a particularly important part of general mechanics. Firstly, next to the spherically symmetric mass distributions that we studied in Sect. 1.30, the top is the simplest example of a body with finite extension. Secondly, its dynamics is a particularly beautiful model case to which one can apply the general principles of canonical mechanics and where one can study the consequences of the various space symmetries in an especially transparent manner.
Application of the Pontryagin maximum principle to the time-optimal control in a chain of three spins with unequal couplings
2014
We solve a time-optimal control problem in a linear chain of three coupled spins 1/2 with unequal couplings. We apply the Pontryagin maximum principle and show that the associated Hamiltonian system is the one of a three-dimensional rigid body. We express the optimal control fields in terms of the components of the classical angular momentum of the rigid body. The optimal trajectories and the minimum control time are given in terms of elliptic functions and elliptic integrals.
Physical model, theoretical aspects and applications of the flight of a ball in the atmosphere. Part II: Theoretical aspects in the case of vertical …
1991
If a ball is viewed as a rigid body, its flight in the atmosphere can be described by a system of six ordinary differential equations, which has been derived in the first part of this paper. In this following second part, the theoretical aspects such as the curvature of the orbit and certain velocity functions will be investigated in the case of the vertical angular frequency of the rotating ball, in which the differential equations reduce to a planar dynamical system. This system turns out to be not explicity solvable. The solutions of the corresponding ordinary or boundary value problems. computed numerically, are used to treat certain problems in international ball games. for example, th…
Geometric Origin of the Tennis Racket Effect
2020
The tennis racket effect is a geometric phenomenon which occurs in a free rotation of a three-dimensional rigid body. In a complex phase space, we show that this effect originates from a pole of a Riemann surface and can be viewed as a result of the Picard-Lefschetz formula. We prove that a perfect twist of the racket is achieved in the limit of an ideal asymmetric object. We give upper and lower bounds to the twist defect for any rigid body, which reveals the robustness of the effect. A similar approach describes the Dzhanibekov effect in which a wing nut, spinning around its central axis, suddenly makes a half-turn flip around a perpendicular axis and the Monster flip, an almost impossibl…